Fxxkrobotics commited on
Commit
af1d8ce
·
verified ·
1 Parent(s): 2bb55ef

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. objects/008_tray/model_data0.json +107 -0
  2. objects/008_tray/model_data1.json +107 -0
  3. objects/008_tray/model_data2.json +107 -0
  4. objects/008_tray/model_data3.json +107 -0
  5. objects/008_tray/points_info.json +15 -0
  6. objects/012_plant-pot/model_data0.json +107 -0
  7. objects/012_plant-pot/model_data1.json +107 -0
  8. objects/012_plant-pot/model_data2.json +107 -0
  9. objects/012_plant-pot/model_data3.json +107 -0
  10. objects/012_plant-pot/model_data4.json +107 -0
  11. objects/012_plant-pot/points_info.json +10 -0
  12. objects/026_pet-collar/model_data0.json +13 -0
  13. objects/026_pet-collar/model_data2.json +13 -0
  14. objects/026_pet-collar/model_data3.json +13 -0
  15. objects/026_pet-collar/points_info.json +4 -0
  16. objects/027_table-tennis/model_data0.json +13 -0
  17. objects/027_table-tennis/model_data1.json +13 -0
  18. objects/027_table-tennis/points_info.json +4 -0
  19. objects/028_roll-paper/model_data0.json +13 -0
  20. objects/028_roll-paper/model_data1.json +13 -0
  21. objects/028_roll-paper/model_data2.json +13 -0
  22. objects/028_roll-paper/model_data3.json +13 -0
  23. objects/028_roll-paper/points_info.json +4 -0
  24. objects/029_olive-oil/model_data0.json +13 -0
  25. objects/029_olive-oil/model_data1.json +13 -0
  26. objects/029_olive-oil/model_data2.json +13 -0
  27. objects/029_olive-oil/model_data3.json +13 -0
  28. objects/029_olive-oil/model_data4.json +13 -0
  29. objects/029_olive-oil/points_info.json +4 -0
  30. objects/032_screwdriver/collision/base0.glb +0 -0
  31. objects/032_screwdriver/model_data0.json +342 -0
  32. objects/032_screwdriver/points_info.json +16 -0
  33. objects/034_knife/model_data0.json +149 -0
  34. objects/034_knife/points_info.json +16 -0
  35. objects/035_apple/model_data0.json +168 -0
  36. objects/035_apple/model_data1.json +168 -0
  37. objects/035_apple/points_info.json +10 -0
  38. objects/040_rack/collision/base0.glb +0 -0
  39. objects/040_rack/model_data0.json +147 -0
  40. objects/040_rack/points_info.json +10 -0
  41. objects/040_rack/visual/base0.glb +0 -0
  42. objects/043_book/collision/base1.glb +0 -0
  43. objects/043_book/model_data0.json +107 -0
  44. objects/043_book/model_data1.json +106 -0
  45. objects/043_book/points_info.json +10 -0
  46. objects/049_shampoo/model_data1.json +114 -0
  47. objects/049_shampoo/model_data2.json +114 -0
  48. objects/049_shampoo/model_data3.json +114 -0
  49. objects/049_shampoo/model_data4.json +114 -0
  50. objects/049_shampoo/model_data5.json +114 -0
objects/008_tray/model_data0.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 4.9604565148233836e-05,
4
+ 0.08050610352571347,
5
+ -0.00016060631929182008
6
+ ],
7
+ "extents": [
8
+ 1.9188980599368566,
9
+ 0.19524852964741723,
10
+ 1.1687238219174492
11
+ ],
12
+ "scale": [
13
+ 0.16,
14
+ 0.16,
15
+ 0.16
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [],
45
+ "functional_matrix": [
46
+ [
47
+ [
48
+ 1.0,
49
+ -0.0,
50
+ -0.0,
51
+ -0.46577998995780945
52
+ ],
53
+ [
54
+ -0.0,
55
+ 0.0,
56
+ -1.0,
57
+ 0.030700000002980232
58
+ ],
59
+ [
60
+ 0.0,
61
+ 1.0,
62
+ 0.0,
63
+ -0.000750000006519258
64
+ ],
65
+ [
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 1.0
70
+ ]
71
+ ],
72
+ [
73
+ [
74
+ 1.0,
75
+ -0.0,
76
+ -0.0,
77
+ 0.4615600109100342
78
+ ],
79
+ [
80
+ -0.0,
81
+ 0.0,
82
+ -1.0,
83
+ 0.03051000088453293
84
+ ],
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ 0.0,
89
+ -0.008390000090003014
90
+ ],
91
+ [
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 1.0
96
+ ]
97
+ ]
98
+ ],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/008_tray/model_data1.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.0002129598969193613,
4
+ 0.10427735901568373,
5
+ -0.000221432177022639
6
+ ],
7
+ "extents": [
8
+ 1.9179603875410902,
9
+ 0.2397474202052295,
10
+ 1.2044586323334041
11
+ ],
12
+ "scale": [
13
+ 0.16,
14
+ 0.16,
15
+ 0.16
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [],
45
+ "functional_matrix": [
46
+ [
47
+ [
48
+ 1.0,
49
+ 0.0,
50
+ 0.0,
51
+ -0.4507499933242798
52
+ ],
53
+ [
54
+ 0.0,
55
+ -0.0,
56
+ -1.0,
57
+ 0.05477999895811081
58
+ ],
59
+ [
60
+ 0.0,
61
+ 1.0,
62
+ -0.0,
63
+ -0.028230000287294388
64
+ ],
65
+ [
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 1.0
70
+ ]
71
+ ],
72
+ [
73
+ [
74
+ 1.0,
75
+ -0.0,
76
+ -0.0,
77
+ 0.46663999557495117
78
+ ],
79
+ [
80
+ -0.0,
81
+ -0.0,
82
+ -1.0,
83
+ 0.06499999761581421
84
+ ],
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ -0.0,
89
+ -0.060270000249147415
90
+ ],
91
+ [
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 1.0
96
+ ]
97
+ ]
98
+ ],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/008_tray/model_data2.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 7.7502531506497e-05,
4
+ 0.101610056002996,
5
+ -7.600462829482564e-05
6
+ ],
7
+ "extents": [
8
+ 1.9179480291077708,
9
+ 0.23807043194830763,
10
+ 1.3960435976964816
11
+ ],
12
+ "scale": [
13
+ 0.16,
14
+ 0.16,
15
+ 0.16
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [],
45
+ "functional_matrix": [
46
+ [
47
+ [
48
+ 1.0,
49
+ 0.0,
50
+ 0.0,
51
+ -0.476500004529953
52
+ ],
53
+ [
54
+ 0.0,
55
+ -0.0,
56
+ -1.0,
57
+ 0.04874999821186066
58
+ ],
59
+ [
60
+ 0.0,
61
+ 1.0,
62
+ -0.0,
63
+ -0.025180000811815262
64
+ ],
65
+ [
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 1.0
70
+ ]
71
+ ],
72
+ [
73
+ [
74
+ 1.0,
75
+ -0.0,
76
+ -0.0,
77
+ 0.4362100064754486
78
+ ],
79
+ [
80
+ -0.0,
81
+ 0.0,
82
+ -1.0,
83
+ 0.048829998821020126
84
+ ],
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ 0.0,
89
+ -0.01448999997228384
90
+ ],
91
+ [
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 1.0
96
+ ]
97
+ ]
98
+ ],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/008_tray/model_data3.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 4.2502842013344656e-05,
4
+ 0.11081986258359969,
5
+ -0.00016900722806537343
6
+ ],
7
+ "extents": [
8
+ 1.9176602168867551,
9
+ 0.2569318760506849,
10
+ 1.4693542838926597
11
+ ],
12
+ "scale": [
13
+ 0.16,
14
+ 0.16,
15
+ 0.16
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [],
45
+ "functional_matrix": [
46
+ [
47
+ [
48
+ 1.0,
49
+ 0.0,
50
+ 0.0,
51
+ -0.43077999353408813
52
+ ],
53
+ [
54
+ 0.0,
55
+ -0.0,
56
+ -1.0,
57
+ 0.04851999878883362
58
+ ],
59
+ [
60
+ 0.0,
61
+ 1.0,
62
+ -0.0,
63
+ -0.022129999473690987
64
+ ],
65
+ [
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 1.0
70
+ ]
71
+ ],
72
+ [
73
+ [
74
+ 1.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.3959200084209442
78
+ ],
79
+ [
80
+ 0.0,
81
+ -0.0,
82
+ -1.0,
83
+ 0.05115000158548355
84
+ ],
85
+ [
86
+ 0.0,
87
+ 1.0,
88
+ -0.0,
89
+ 0.0106800002977252
90
+ ],
91
+ [
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 1.0
96
+ ]
97
+ ]
98
+ ],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/008_tray/points_info.json ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "contact_points": [],
3
+ "functional_points": [
4
+ {
5
+ "id": 0,
6
+ "description": "At the center of the left side of the tray",
7
+ "usage": "Used to indicate the position where the object on the left should be placed into the tray."
8
+ },
9
+ {
10
+ "id": 1,
11
+ "description": "At the center of the right side of the tray",
12
+ "usage": "Used to indicate the position where the object on the right should be placed into the tray."
13
+ }
14
+ ]
15
+ }
objects/012_plant-pot/model_data0.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ -0.009553103904883602,
4
+ 0.9343003334011575,
5
+ 0.02155083096929299
6
+ ],
7
+ "extents": [
8
+ 1.4174866994413367,
9
+ 1.9867257999060504,
10
+ 1.4827637721241125
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.5700100064277649,
48
+ -0.8216400146484375,
49
+ 9.999999747378752e-06,
50
+ -0.7076500058174133
51
+ ],
52
+ [
53
+ 0.8216400146484375,
54
+ 0.5700100064277649,
55
+ -0.0,
56
+ 0.7144799828529358
57
+ ],
58
+ [
59
+ -0.0,
60
+ 9.999999747378752e-06,
61
+ 1.0,
62
+ 0.1401199996471405
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ -0.6596300005912781,
74
+ 0.7515900135040283,
75
+ -0.0,
76
+ 0.7471500039100647
77
+ ],
78
+ [
79
+ 0.7515900135040283,
80
+ 0.6596300005912781,
81
+ -0.0,
82
+ 0.7106800079345703
83
+ ],
84
+ [
85
+ -0.0,
86
+ -0.0,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/012_plant-pot/model_data1.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 2.4288933365814523e-05,
4
+ 0.34271241028864546,
5
+ -0.0003848455664018171
6
+ ],
7
+ "extents": [
8
+ 1.9266486446304525,
9
+ 0.7177708087197564,
10
+ 1.2193610683812213
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.5700100064277649,
48
+ -0.8216400146484375,
49
+ 9.999999747378752e-06,
50
+ -0.8390300273895264
51
+ ],
52
+ [
53
+ 0.8216400146484375,
54
+ 0.5700100064277649,
55
+ -0.0,
56
+ 0.5520200133323669
57
+ ],
58
+ [
59
+ -0.0,
60
+ 9.999999747378752e-06,
61
+ 1.0,
62
+ 0.1401199996471405
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ -0.6596300005912781,
74
+ 0.7515900135040283,
75
+ -0.0,
76
+ 0.8545100092887878
77
+ ],
78
+ [
79
+ 0.7515900135040283,
80
+ 0.6596300005912781,
81
+ 0.0,
82
+ 0.543940007686615
83
+ ],
84
+ [
85
+ 0.0,
86
+ -0.0,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/012_plant-pot/model_data2.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.0894751894578893,
4
+ 0.6720561840595687,
5
+ 0.008861700660528863
6
+ ],
7
+ "extents": [
8
+ 1.7553033920305674,
9
+ 1.8345946396785595,
10
+ 1.865375144026379
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.10248000174760818,
48
+ -0.9947400093078613,
49
+ 9.999999747378752e-06,
50
+ -0.6558399796485901
51
+ ],
52
+ [
53
+ 0.9947400093078613,
54
+ 0.10248000174760818,
55
+ 0.0,
56
+ 0.3970400094985962
57
+ ],
58
+ [
59
+ -0.0,
60
+ 9.999999747378752e-06,
61
+ 1.0,
62
+ 0.1401199996471405
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ -0.24356000125408173,
74
+ 0.9698899984359741,
75
+ -1.9999999494757503e-05,
76
+ 0.6919900178909302
77
+ ],
78
+ [
79
+ 0.9698899984359741,
80
+ 0.24356000125408173,
81
+ 0.0,
82
+ 0.40241000056266785
83
+ ],
84
+ [
85
+ 9.999999747378752e-06,
86
+ -1.9999999494757503e-05,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/012_plant-pot/model_data3.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ -0.039774050841374975,
4
+ 0.9181160846072159,
5
+ -0.008674320893222615
6
+ ],
7
+ "extents": [
8
+ 1.2912315876060054,
9
+ 2.1024451980364893,
10
+ 1.1544484675465168
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.5305799841880798,
48
+ -0.8476399779319763,
49
+ 1.9999999494757503e-05,
50
+ -0.6558399796485901
51
+ ],
52
+ [
53
+ 0.8476399779319763,
54
+ 0.5305799841880798,
55
+ -9.999999747378752e-06,
56
+ 0.8205599784851074
57
+ ],
58
+ [
59
+ -0.0,
60
+ 1.9999999494757503e-05,
61
+ 1.0,
62
+ 0.1401199996471405
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ -0.5881999731063843,
74
+ 0.8087199926376343,
75
+ -2.9999999242136255e-05,
76
+ 0.6919900178909302
77
+ ],
78
+ [
79
+ 0.8087199926376343,
80
+ 0.5881999731063843,
81
+ -9.999999747378752e-06,
82
+ 0.8593500256538391
83
+ ],
84
+ [
85
+ 9.999999747378752e-06,
86
+ -2.9999999242136255e-05,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/012_plant-pot/model_data4.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.00018089605314274682,
4
+ 0.34147670366019744,
5
+ 0.00019174009783483442
6
+ ],
7
+ "extents": [
8
+ 1.9269686355820903,
9
+ 0.7193699249591399,
10
+ 0.9652745642087945
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.5305799841880798,
48
+ -0.8476399779319763,
49
+ 1.9999999494757503e-05,
50
+ -0.8096100091934204
51
+ ],
52
+ [
53
+ 0.8476399779319763,
54
+ 0.5305799841880798,
55
+ -9.999999747378752e-06,
56
+ 0.5459700226783752
57
+ ],
58
+ [
59
+ -0.0,
60
+ 1.9999999494757503e-05,
61
+ 1.0,
62
+ 0.1401199996471405
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ -0.5881999731063843,
74
+ 0.8087199926376343,
75
+ -2.9999999242136255e-05,
76
+ 0.8593500256538391
77
+ ],
78
+ [
79
+ 0.8087199926376343,
80
+ 0.5881999731063843,
81
+ -9.999999747378752e-06,
82
+ 0.549049973487854
83
+ ],
84
+ [
85
+ 9.999999747378752e-06,
86
+ -2.9999999242136255e-05,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/012_plant-pot/points_info.json ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "contact_points": [
3
+ {
4
+ "id": [0, 1],
5
+ "description": "On two sides of the plant pot",
6
+ "usage": "Used for grasping the plant pot."
7
+ }
8
+ ],
9
+ "functional_points": []
10
+ }
objects/026_pet-collar/model_data0.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -0.0005162034106438754,
5
+ 0.24587271516241524,
6
+ -0.010732325592679419
7
+ ],
8
+ "extents": [
9
+ 2.4657267433349386,
10
+ 0.5271867107726621,
11
+ 2.4693715349408114
12
+ ]
13
+ }
objects/026_pet-collar/model_data2.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": false,
3
+ "center": [
4
+ 0.04646675846829003,
5
+ 0.322729276850826,
6
+ -0.11065653869964141
7
+ ],
8
+ "extents": [
9
+ 2.1783469477248065,
10
+ 0.7124164275542914,
11
+ 2.300954934795861
12
+ ]
13
+ }
objects/026_pet-collar/model_data3.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ 0.015427485729195858,
5
+ 0.23058362296258095,
6
+ 0.08475027261426467
7
+ ],
8
+ "extents": [
9
+ 2.381172829915061,
10
+ 0.5281571668835747,
11
+ 2.384358427650481
12
+ ]
13
+ }
objects/026_pet-collar/points_info.json ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {
2
+ "contact_points": [],
3
+ "functional_points": []
4
+ }
objects/027_table-tennis/model_data0.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -0.00017861458660803364,
5
+ 0.946173901462064,
6
+ -0.0002318058063136142
7
+ ],
8
+ "extents": [
9
+ 2.144049731485242,
10
+ 2.201535012848795,
11
+ 2.19116198536721
12
+ ]
13
+ }
objects/027_table-tennis/model_data1.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -0.00017861458660803364,
5
+ 0.946173901462064,
6
+ -0.0002318058063136142
7
+ ],
8
+ "extents": [
9
+ 2.144049731485242,
10
+ 2.201535012848795,
11
+ 2.19116198536721
12
+ ]
13
+ }
objects/027_table-tennis/points_info.json ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {
2
+ "contact_points": [],
3
+ "functional_points": []
4
+ }
objects/028_roll-paper/model_data0.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": false,
3
+ "center": [
4
+ 1.2236273727702012e-05,
5
+ 0.6851987719045183,
6
+ 0.0049636721692875125
7
+ ],
8
+ "extents": [
9
+ 1.9211721781018662,
10
+ 1.892615395024312,
11
+ 1.8946623300483725
12
+ ]
13
+ }
objects/028_roll-paper/model_data1.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -3.756508708204473e-05,
5
+ 0.8477886409109517,
6
+ 0.00010826363306032094
7
+ ],
8
+ "extents": [
9
+ 2.0696865702452483,
10
+ 1.7345155931665763,
11
+ 2.070010211330942
12
+ ]
13
+ }
objects/028_roll-paper/model_data2.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ 0.15038319299835634,
5
+ 0.6582684141842103,
6
+ 0.1511094459280082
7
+ ],
8
+ "extents": [
9
+ 2.2306442130926816,
10
+ 1.3542987040204024,
11
+ 2.2226259171844753
12
+ ]
13
+ }
objects/028_roll-paper/model_data3.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ 3.877323282373126e-05,
5
+ 0.9062725998688297,
6
+ 8.91114019359846e-05
7
+ ],
8
+ "extents": [
9
+ 2.105686805956171,
10
+ 1.8475539796565925,
11
+ 2.104863800687124
12
+ ]
13
+ }
objects/028_roll-paper/points_info.json ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {
2
+ "contact_points": [],
3
+ "functional_points": []
4
+ }
objects/029_olive-oil/model_data0.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -7.799826178164704e-05,
5
+ 0.15000562555120617,
6
+ -1.3624538128911524e-06
7
+ ],
8
+ "extents": [
9
+ 0.13258045705296734,
10
+ 0.305720331533414,
11
+ 0.14706955678093458
12
+ ]
13
+ }
objects/029_olive-oil/model_data1.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -5.001202225677304e-06,
5
+ 0.149983166963581,
6
+ -7.994446468896276e-06
7
+ ],
8
+ "extents": [
9
+ 0.07703600451350213,
10
+ 0.3054168165410982,
11
+ 0.07773828900778844
12
+ ]
13
+ }
objects/029_olive-oil/model_data2.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -1.3124338193820562e-05,
5
+ 0.15000822676903328,
6
+ 7.473646736479652e-06
7
+ ],
8
+ "extents": [
9
+ 0.10844602557309532,
10
+ 0.3054669808367927,
11
+ 0.08438835606800331
12
+ ]
13
+ }
objects/029_olive-oil/model_data3.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -5.831214138897949e-06,
5
+ 0.1499877986206371,
6
+ -9.86826824118853e-07
7
+ ],
8
+ "extents": [
9
+ 0.07954597848106176,
10
+ 0.3054235272517222,
11
+ 0.07957672870477221
12
+ ]
13
+ }
objects/029_olive-oil/model_data4.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "stable": true,
3
+ "center": [
4
+ -1.803040504457424e-06,
5
+ 0.14998990981314453,
6
+ -4.977381011548517e-07
7
+ ],
8
+ "extents": [
9
+ 0.08184728026390076,
10
+ 0.30540299890212497,
11
+ 0.08183179940745
12
+ ]
13
+ }
objects/029_olive-oil/points_info.json ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {
2
+ "contact_points": [],
3
+ "functional_points": []
4
+ }
objects/032_screwdriver/collision/base0.glb ADDED
Binary file (77.2 kB). View file
 
objects/032_screwdriver/model_data0.json ADDED
@@ -0,0 +1,342 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 2.6963423256795093e-05,
4
+ 0.9585519863760611,
5
+ 0.0017151700194167996
6
+ ],
7
+ "extents": [
8
+ 0.4197918030030407,
9
+ 1.918352359655402,
10
+ 0.4260929738574897
11
+ ],
12
+ "scale": [
13
+ 0.095,
14
+ 0.095,
15
+ 0.095
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ -0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [
44
+ [
45
+ [
46
+ 1.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0
50
+ ],
51
+ [
52
+ 0.0,
53
+ 1.0,
54
+ -0.0,
55
+ 0.8388800024986267
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 1.0,
61
+ -0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 1.0
68
+ ]
69
+ ]
70
+ ],
71
+ "contact_points_pose": [
72
+ [
73
+ [
74
+ -0.0,
75
+ -0.0,
76
+ -1.0,
77
+ 0.0
78
+ ],
79
+ [
80
+ 1.0,
81
+ -0.0,
82
+ -0.0,
83
+ 0.3864099979400635
84
+ ],
85
+ [
86
+ -0.0,
87
+ -1.0,
88
+ 0.0,
89
+ -0.0
90
+ ],
91
+ [
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 1.0
96
+ ]
97
+ ],
98
+ [
99
+ [
100
+ -0.0,
101
+ -0.7071099877357483,
102
+ -0.7071099877357483,
103
+ 0.0
104
+ ],
105
+ [
106
+ 1.0,
107
+ -0.0,
108
+ -0.0,
109
+ 0.3864099979400635
110
+ ],
111
+ [
112
+ -0.0,
113
+ -0.7071099877357483,
114
+ 0.7071099877357483,
115
+ -0.0
116
+ ],
117
+ [
118
+ 0.0,
119
+ 0.0,
120
+ 0.0,
121
+ 1.0
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ -0.0,
127
+ -1.0,
128
+ 0.0,
129
+ 0.0
130
+ ],
131
+ [
132
+ 1.0,
133
+ -0.0,
134
+ 0.0,
135
+ 0.3864099979400635
136
+ ],
137
+ [
138
+ -0.0,
139
+ 0.0,
140
+ 1.0,
141
+ -0.0
142
+ ],
143
+ [
144
+ 0.0,
145
+ 0.0,
146
+ 0.0,
147
+ 1.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0,
153
+ -0.7071099877357483,
154
+ 0.7071099877357483,
155
+ 0.0
156
+ ],
157
+ [
158
+ 1.0,
159
+ -0.0,
160
+ 0.0,
161
+ 0.3864099979400635
162
+ ],
163
+ [
164
+ -0.0,
165
+ 0.7071099877357483,
166
+ 0.7071099877357483,
167
+ -0.0
168
+ ],
169
+ [
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 1.0
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ -0.0,
179
+ 0.0,
180
+ 1.0,
181
+ 0.0
182
+ ],
183
+ [
184
+ 1.0,
185
+ 0.0,
186
+ 0.0,
187
+ 0.3864099979400635
188
+ ],
189
+ [
190
+ -0.0,
191
+ 1.0,
192
+ -0.0,
193
+ -0.0
194
+ ],
195
+ [
196
+ 0.0,
197
+ 0.0,
198
+ 0.0,
199
+ 1.0
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ -0.0,
205
+ 0.7071099877357483,
206
+ 0.7071099877357483,
207
+ 0.0
208
+ ],
209
+ [
210
+ 1.0,
211
+ 0.0,
212
+ -0.0,
213
+ 0.3864099979400635
214
+ ],
215
+ [
216
+ -0.0,
217
+ 0.7071099877357483,
218
+ -0.7071099877357483,
219
+ -0.0
220
+ ],
221
+ [
222
+ 0.0,
223
+ 0.0,
224
+ 0.0,
225
+ 1.0
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ -0.0,
231
+ 1.0,
232
+ -0.0,
233
+ 0.0
234
+ ],
235
+ [
236
+ 1.0,
237
+ 0.0,
238
+ -0.0,
239
+ 0.3864099979400635
240
+ ],
241
+ [
242
+ -0.0,
243
+ -0.0,
244
+ -1.0,
245
+ -0.0
246
+ ],
247
+ [
248
+ 0.0,
249
+ 0.0,
250
+ 0.0,
251
+ 1.0
252
+ ]
253
+ ],
254
+ [
255
+ [
256
+ 0.0,
257
+ 0.7071099877357483,
258
+ -0.7071099877357483,
259
+ 0.0
260
+ ],
261
+ [
262
+ 1.0,
263
+ 0.0,
264
+ -0.0,
265
+ 0.3864099979400635
266
+ ],
267
+ [
268
+ -0.0,
269
+ -0.7071099877357483,
270
+ -0.7071099877357483,
271
+ -0.0
272
+ ],
273
+ [
274
+ 0.0,
275
+ 0.0,
276
+ 0.0,
277
+ 1.0
278
+ ]
279
+ ]
280
+ ],
281
+ "functional_matrix": [
282
+ [
283
+ [
284
+ -0.0,
285
+ -1.0,
286
+ 0.0,
287
+ 0.0
288
+ ],
289
+ [
290
+ -0.0,
291
+ 0.0,
292
+ 1.0,
293
+ 1.8807200193405151
294
+ ],
295
+ [
296
+ -1.0,
297
+ 0.0,
298
+ -0.0,
299
+ -0.0
300
+ ],
301
+ [
302
+ 0.0,
303
+ 0.0,
304
+ 0.0,
305
+ 1.0
306
+ ]
307
+ ]
308
+ ],
309
+ "orientation_point": [],
310
+ "contact_points_group": [
311
+ [
312
+ 0
313
+ ],
314
+ [
315
+ 0,
316
+ 1,
317
+ 2,
318
+ 3,
319
+ 4,
320
+ 5,
321
+ 6,
322
+ 7
323
+ ]
324
+ ],
325
+ "contact_points_mask": [
326
+ true,
327
+ true
328
+ ],
329
+ "target_point_discription": [
330
+ "The center of the object."
331
+ ],
332
+ "contact_points_discription": [
333
+ "Grasping handle of screwdriver."
334
+ ],
335
+ "functional_point_discription": [
336
+ ""
337
+ ],
338
+ "orientation_point_discription": [
339
+ ""
340
+ ],
341
+ "stable": false
342
+ }
objects/032_screwdriver/points_info.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "contact_points": [
3
+ {
4
+ "id": [0, 1, 2, 3, 4, 5, 6, 7],
5
+ "description": "On the handle of the screwdriver",
6
+ "usage": "Used for grasping the screwdriver from any side."
7
+ }
8
+ ],
9
+ "functional_points": [
10
+ {
11
+ "id": 0,
12
+ "description": "At the center of the screwdriver tip",
13
+ "usage": "Used to indicate where the screwdriver will make contact with screws."
14
+ }
15
+ ]
16
+ }
objects/034_knife/model_data0.json ADDED
@@ -0,0 +1,149 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.00014706707680413436,
4
+ -0.00518529097648603,
5
+ 0.0019079088629515557
6
+ ],
7
+ "extents": [
8
+ 0.09775587600243035,
9
+ 1.4940585339120356,
10
+ 0.40469942084235694
11
+ ],
12
+ "scale": [
13
+ 0.31,
14
+ 0.31,
15
+ 0.31
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ -0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [
44
+ [
45
+ [
46
+ 1.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0
50
+ ],
51
+ [
52
+ 0.0,
53
+ 1.0,
54
+ -0.0,
55
+ 0.0
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 1.0,
61
+ 0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 1.0
68
+ ]
69
+ ]
70
+ ],
71
+ "contact_points_pose": [
72
+ [
73
+ [
74
+ -0.0,
75
+ -0.0,
76
+ -1.0,
77
+ 0.0
78
+ ],
79
+ [
80
+ 1.0,
81
+ -0.0,
82
+ -0.0,
83
+ -0.4000000059604645
84
+ ],
85
+ [
86
+ -0.0,
87
+ -1.0,
88
+ 0.0,
89
+ -0.10000000149011612
90
+ ],
91
+ [
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 1.0
96
+ ]
97
+ ]
98
+ ],
99
+ "functional_matrix": [
100
+ [
101
+ [
102
+ 1.0,
103
+ 0.0,
104
+ 0.0,
105
+ 0.0
106
+ ],
107
+ [
108
+ 0.0,
109
+ 0.9987499713897705,
110
+ 0.04997999966144562,
111
+ 0.30000001192092896
112
+ ],
113
+ [
114
+ 0.0,
115
+ -0.04997999966144562,
116
+ 0.9987499713897705,
117
+ 0.17000000178813934
118
+ ],
119
+ [
120
+ 0.0,
121
+ 0.0,
122
+ 0.0,
123
+ 1.0
124
+ ]
125
+ ]
126
+ ],
127
+ "orientation_point": [],
128
+ "contact_points_group": [
129
+ [
130
+ 0
131
+ ]
132
+ ],
133
+ "contact_points_mask": [
134
+ true
135
+ ],
136
+ "target_point_discription": [
137
+ "The center of the object."
138
+ ],
139
+ "contact_points_discription": [
140
+ "Grasping the handle of knife."
141
+ ],
142
+ "functional_point_discription": [
143
+ ""
144
+ ],
145
+ "orientation_point_discription": [
146
+ ""
147
+ ],
148
+ "stable": false
149
+ }
objects/034_knife/points_info.json ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "contact_points": [
3
+ {
4
+ "id": 0,
5
+ "description": "On the handle of the knife",
6
+ "usage": "Used for grasping the knife."
7
+ }
8
+ ],
9
+ "functional_points": [
10
+ {
11
+ "id": 0,
12
+ "description": "At the blade of the knife",
13
+ "usage": "Used to indicate where the knife will make contact with other objects."
14
+ }
15
+ ]
16
+ }
objects/035_apple/model_data0.json ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.0008172467243884321,
4
+ 0.03814048367178239,
5
+ -0.0011298758841109897
6
+ ],
7
+ "extents": [
8
+ 0.09445320561549936,
9
+ 0.0919138697184135,
10
+ 0.07961105329605804
11
+ ],
12
+ "scale": [
13
+ 0.7,
14
+ 0.7,
15
+ 0.7
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 1.0,
48
+ 0.0,
49
+ 0.0,
50
+ -0.0031500000040978193
51
+ ],
52
+ [
53
+ 0.0,
54
+ 1.0,
55
+ 0.0,
56
+ 0.040130000561475754
57
+ ],
58
+ [
59
+ 0.0,
60
+ -0.0,
61
+ 1.0,
62
+ -0.0022700000554323196
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ -0.0,
74
+ 0.0,
75
+ 1.0,
76
+ -0.0031500000040978193
77
+ ],
78
+ [
79
+ -0.0,
80
+ 1.0,
81
+ -0.0,
82
+ 0.040130000561475754
83
+ ],
84
+ [
85
+ -1.0,
86
+ 0.0,
87
+ 0.0,
88
+ -0.0022700000554323196
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ -1.0,
100
+ 0.0,
101
+ 0.0,
102
+ -0.0031500000040978193
103
+ ],
104
+ [
105
+ 0.0,
106
+ 1.0,
107
+ -0.0,
108
+ 0.040130000561475754
109
+ ],
110
+ [
111
+ 0.0,
112
+ -0.0,
113
+ -1.0,
114
+ -0.0022700000554323196
115
+ ],
116
+ [
117
+ 0.0,
118
+ 0.0,
119
+ 0.0,
120
+ 1.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ -0.0,
126
+ -0.0,
127
+ -1.0,
128
+ -0.0031500000040978193
129
+ ],
130
+ [
131
+ 0.0,
132
+ 1.0,
133
+ -0.0,
134
+ 0.040130000561475754
135
+ ],
136
+ [
137
+ 1.0,
138
+ 0.0,
139
+ 0.0,
140
+ -0.0022700000554323196
141
+ ],
142
+ [
143
+ 0.0,
144
+ 0.0,
145
+ 0.0,
146
+ 1.0
147
+ ]
148
+ ]
149
+ ],
150
+ "functional_matrix": [],
151
+ "orientation_point": [],
152
+ "contact_points_group": [
153
+ [
154
+ 0,
155
+ 1,
156
+ 2,
157
+ 3
158
+ ]
159
+ ],
160
+ "contact_points_mask": [
161
+ true
162
+ ],
163
+ "target_point_discription": [],
164
+ "contact_points_discription": [],
165
+ "functional_point_discription": [],
166
+ "orientation_point_discription": [],
167
+ "stable": false
168
+ }
objects/035_apple/model_data1.json ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ -1.4901161193906814e-07,
4
+ 0.03863577172160148,
5
+ 7.810114255840798e-19
6
+ ],
7
+ "extents": [
8
+ 0.07726018130779268,
9
+ 0.07727154344320297,
10
+ 0.07365814596414566
11
+ ],
12
+ "scale": [
13
+ 0.7,
14
+ 0.7,
15
+ 0.7
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 1.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.000859999970998615
51
+ ],
52
+ [
53
+ 0.0,
54
+ 1.0,
55
+ 0.0,
56
+ 0.044440001249313354
57
+ ],
58
+ [
59
+ 0.0,
60
+ -0.0,
61
+ 1.0,
62
+ 0.00471000000834465
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ -0.0,
74
+ 0.0,
75
+ 1.0,
76
+ 0.000859999970998615
77
+ ],
78
+ [
79
+ -0.0,
80
+ 1.0,
81
+ -0.0,
82
+ 0.044440001249313354
83
+ ],
84
+ [
85
+ -1.0,
86
+ 0.0,
87
+ 0.0,
88
+ 0.00471000000834465
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ -1.0,
100
+ 0.0,
101
+ 0.0,
102
+ 0.000859999970998615
103
+ ],
104
+ [
105
+ 0.0,
106
+ 1.0,
107
+ -0.0,
108
+ 0.044440001249313354
109
+ ],
110
+ [
111
+ 0.0,
112
+ -0.0,
113
+ -1.0,
114
+ 0.00471000000834465
115
+ ],
116
+ [
117
+ 0.0,
118
+ 0.0,
119
+ 0.0,
120
+ 1.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ -0.0,
126
+ -0.0,
127
+ -1.0,
128
+ 0.000859999970998615
129
+ ],
130
+ [
131
+ 0.0,
132
+ 1.0,
133
+ -0.0,
134
+ 0.044440001249313354
135
+ ],
136
+ [
137
+ 1.0,
138
+ 0.0,
139
+ 0.0,
140
+ 0.00471000000834465
141
+ ],
142
+ [
143
+ 0.0,
144
+ 0.0,
145
+ 0.0,
146
+ 1.0
147
+ ]
148
+ ]
149
+ ],
150
+ "functional_matrix": [],
151
+ "orientation_point": [],
152
+ "contact_points_group": [
153
+ [
154
+ 0,
155
+ 1,
156
+ 2,
157
+ 3
158
+ ]
159
+ ],
160
+ "contact_points_mask": [
161
+ true
162
+ ],
163
+ "target_point_discription": [],
164
+ "contact_points_discription": [],
165
+ "functional_point_discription": [],
166
+ "orientation_point_discription": [],
167
+ "stable": false
168
+ }
objects/035_apple/points_info.json ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "contact_points": [
3
+ {
4
+ "id": [0, 1, 2, 3],
5
+ "description": "At the center of the apple",
6
+ "usage": "Used for grasping the apple from top down."
7
+ }
8
+ ],
9
+ "functional_points": []
10
+ }
objects/040_rack/collision/base0.glb ADDED
Binary file (56.5 kB). View file
 
objects/040_rack/model_data0.json ADDED
@@ -0,0 +1,147 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.0016019315492351027,
4
+ 0.10269426877325372,
5
+ 0.003127139398693541
6
+ ],
7
+ "extents": [
8
+ 0.13443383556241023,
9
+ 0.23925820094690342,
10
+ 0.11104472005337523
11
+ ],
12
+ "scale": [
13
+ 1.1,
14
+ 1.1,
15
+ 1.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ -0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [
44
+ [
45
+ [
46
+ 1.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0
50
+ ],
51
+ [
52
+ 0.0,
53
+ 1.0,
54
+ -0.0,
55
+ 0.11580000072717667
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 1.0,
61
+ -0.0
62
+ ],
63
+ [
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 1.0
68
+ ]
69
+ ]
70
+ ],
71
+ "contact_points_pose": [],
72
+ "functional_matrix": [
73
+ [
74
+ [
75
+ -0.7818300127983093,
76
+ -0.0,
77
+ -0.6234899759292603,
78
+ 0.05928000062704086
79
+ ],
80
+ [
81
+ 0.6234899759292603,
82
+ -0.0,
83
+ -0.7818300127983093,
84
+ 0.1768600046634674
85
+ ],
86
+ [
87
+ 0.0,
88
+ -1.0,
89
+ 0.0,
90
+ 0.0
91
+ ],
92
+ [
93
+ 0.0,
94
+ 0.0,
95
+ 0.0,
96
+ 1.0
97
+ ]
98
+ ]
99
+ ],
100
+ "orientation_point": [
101
+ [
102
+ [
103
+ 1.0,
104
+ 0.0,
105
+ 0.0,
106
+ 0.0
107
+ ],
108
+ [
109
+ 0.0,
110
+ 1.0,
111
+ -0.0,
112
+ 0.2316100001335144
113
+ ],
114
+ [
115
+ 0.0,
116
+ 0.0,
117
+ 1.0,
118
+ -0.0
119
+ ],
120
+ [
121
+ 0.0,
122
+ 0.0,
123
+ 0.0,
124
+ 1.0
125
+ ]
126
+ ]
127
+ ],
128
+ "contact_points_group": [
129
+ [
130
+ 0
131
+ ]
132
+ ],
133
+ "contact_points_mask": [
134
+ true
135
+ ],
136
+ "target_point_discription": [
137
+ "The center point on the bottom of the track."
138
+ ],
139
+ "contact_points_discription": [],
140
+ "functional_point_discription": [
141
+ "Point0: The end of the bracket, the axis direction is the same as the negative direction of the bracket."
142
+ ],
143
+ "orientation_point_discription": [
144
+ ""
145
+ ],
146
+ "stable": true
147
+ }
objects/040_rack/points_info.json ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "contact_points": [],
3
+ "functional_points": [
4
+ {
5
+ "id": 0,
6
+ "description": "At the end of the rack's hanging bar",
7
+ "usage": "Used to indicate the position where other objects need to be hung on the rack."
8
+ }
9
+ ]
10
+ }
objects/040_rack/visual/base0.glb ADDED
Binary file (17.4 kB). View file
 
objects/043_book/collision/base1.glb ADDED
Binary file (46.5 kB). View file
 
objects/043_book/model_data0.json ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.0004504223764537053,
4
+ 0.025229758693723067,
5
+ 9.638984855515949e-05
6
+ ],
7
+ "extents": [
8
+ 0.16155072124664807,
9
+ 0.05324462121849311,
10
+ 0.2149714064755961
11
+ ],
12
+ "scale": [
13
+ 1.0,
14
+ 1.0,
15
+ 1.0
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ -0.014000000432133675,
48
+ -0.9998999834060669,
49
+ 0.0026100000832229853,
50
+ -0.07020000368356705
51
+ ],
52
+ [
53
+ -0.010339999571442604,
54
+ 0.002749999985098839,
55
+ 0.9999399781227112,
56
+ 0.02369000017642975
57
+ ],
58
+ [
59
+ -0.9998499751091003,
60
+ 0.013969999738037586,
61
+ -0.010379999876022339,
62
+ -9.000000136438757e-05
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ -0.014000000432133675,
74
+ 0.9993000030517578,
75
+ 0.034710001200437546,
76
+ 0.06916999816894531
77
+ ],
78
+ [
79
+ -0.010350000113248825,
80
+ 0.03457000106573105,
81
+ -0.9993500113487244,
82
+ 0.023310000076889992
83
+ ],
84
+ [
85
+ -0.9998499751091003,
86
+ -0.014349999837577343,
87
+ 0.009850000031292439,
88
+ -0.00203999993391335
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": [],
106
+ "stable": true
107
+ }
objects/043_book/model_data1.json ADDED
@@ -0,0 +1,106 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.00032924021182646995,
4
+ 0.14700182497501577,
5
+ 0.007178757351071089
6
+ ],
7
+ "extents": [
8
+ 3.03918969672834,
9
+ 0.3625252516624651,
10
+ 2.0536206477313432
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 1.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.06770999729633331
51
+ ],
52
+ [
53
+ 0.0,
54
+ 1.0,
55
+ -0.0,
56
+ 0.16207000613212585
57
+ ],
58
+ [
59
+ 0.0,
60
+ 0.0,
61
+ 1.0,
62
+ -1.011330008506775
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ 1.0,
74
+ 0.0,
75
+ 0.0,
76
+ 0.0
77
+ ],
78
+ [
79
+ 0.0,
80
+ 1.0,
81
+ -0.0,
82
+ 0.20218999683856964
83
+ ],
84
+ [
85
+ 0.0,
86
+ 0.0,
87
+ 1.0,
88
+ 1.025089979171753
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [],
101
+ "contact_points_mask": [],
102
+ "target_point_discription": [],
103
+ "contact_points_discription": [],
104
+ "functional_point_discription": [],
105
+ "orientation_point_discription": []
106
+ }
objects/043_book/points_info.json ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "contact_points": [
3
+ {
4
+ "id": [0, 1],
5
+ "description": "The edge of the book",
6
+ "usage": "Used for grasping the book."
7
+ }
8
+ ],
9
+ "functional_points": []
10
+ }
objects/049_shampoo/model_data1.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 5.916015680797865e-05,
4
+ 0.9509434170080846,
5
+ 0.0035136663171951997
6
+ ],
7
+ "extents": [
8
+ 0.7828524509552217,
9
+ 1.9384842788855146,
10
+ 0.49115980249146524
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.0031500000040978193,
48
+ -1.0,
49
+ 0.0005799999926239252,
50
+ 0.0
51
+ ],
52
+ [
53
+ 1.0,
54
+ 0.0031500000040978193,
55
+ -0.0,
56
+ 0.946940004825592
57
+ ],
58
+ [
59
+ -0.0,
60
+ 0.0005799999926239252,
61
+ 1.0,
62
+ -0.0
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ 0.0031399999279528856,
74
+ 1.0,
75
+ -2.9999999242136255e-05,
76
+ 0.0
77
+ ],
78
+ [
79
+ 1.0,
80
+ -0.0031399999279528856,
81
+ 0.0,
82
+ 0.946940004825592
83
+ ],
84
+ [
85
+ -0.0,
86
+ -2.9999999242136255e-05,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [
101
+ [
102
+ 0,
103
+ 1
104
+ ]
105
+ ],
106
+ "contact_points_mask": [
107
+ true
108
+ ],
109
+ "target_point_discription": [],
110
+ "contact_points_discription": [],
111
+ "functional_point_discription": [],
112
+ "orientation_point_discription": [],
113
+ "stable": true
114
+ }
objects/049_shampoo/model_data2.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.0006037329650250106,
4
+ 0.9504604626881581,
5
+ 0.0002286282382692763
6
+ ],
7
+ "extents": [
8
+ 0.700294094481695,
9
+ 1.9353534906609475,
10
+ 0.4375149138128556
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.0031500000040978193,
48
+ -0.9999899864196777,
49
+ 0.0006399999838322401,
50
+ 0.0
51
+ ],
52
+ [
53
+ 1.0,
54
+ 0.0031500000040978193,
55
+ -0.0,
56
+ 0.8946300148963928
57
+ ],
58
+ [
59
+ -0.0,
60
+ 0.0006399999838322401,
61
+ 1.0,
62
+ -0.0
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ 0.0031399999279528856,
74
+ 1.0,
75
+ -2.9999999242136255e-05,
76
+ 0.0
77
+ ],
78
+ [
79
+ 1.0,
80
+ -0.0031399999279528856,
81
+ 0.0,
82
+ 0.8946300148963928
83
+ ],
84
+ [
85
+ -0.0,
86
+ -2.9999999242136255e-05,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [
101
+ [
102
+ 0,
103
+ 1
104
+ ]
105
+ ],
106
+ "contact_points_mask": [
107
+ true
108
+ ],
109
+ "target_point_discription": [],
110
+ "contact_points_discription": [],
111
+ "functional_point_discription": [],
112
+ "orientation_point_discription": [],
113
+ "stable": true
114
+ }
objects/049_shampoo/model_data3.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.00018452516622251912,
4
+ 0.950905892249378,
5
+ 6.445352696752492e-05
6
+ ],
7
+ "extents": [
8
+ 0.5809536148362155,
9
+ 1.9357081749509626,
10
+ 0.5074656663740997
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.0031500000040978193,
48
+ -0.9999899864196777,
49
+ 0.0006399999838322401,
50
+ 0.0
51
+ ],
52
+ [
53
+ 1.0,
54
+ 0.0031500000040978193,
55
+ -0.0,
56
+ 0.8946300148963928
57
+ ],
58
+ [
59
+ -0.0,
60
+ 0.0006399999838322401,
61
+ 1.0,
62
+ -0.0
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ 0.0031399999279528856,
74
+ 1.0,
75
+ -2.9999999242136255e-05,
76
+ 0.0
77
+ ],
78
+ [
79
+ 1.0,
80
+ -0.0031399999279528856,
81
+ 0.0,
82
+ 0.8946300148963928
83
+ ],
84
+ [
85
+ -0.0,
86
+ -2.9999999242136255e-05,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [
101
+ [
102
+ 0,
103
+ 1
104
+ ]
105
+ ],
106
+ "contact_points_mask": [
107
+ true
108
+ ],
109
+ "target_point_discription": [],
110
+ "contact_points_discription": [],
111
+ "functional_point_discription": [],
112
+ "orientation_point_discription": [],
113
+ "stable": true
114
+ }
objects/049_shampoo/model_data4.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ -0.00026696238332613693,
4
+ 0.950395631899677,
5
+ 8.464848746141719e-05
6
+ ],
7
+ "extents": [
8
+ 1.1637013063139712,
9
+ 1.9362212676193984,
10
+ 0.8363004639005138
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.0031500000040978193,
48
+ -0.9999899864196777,
49
+ 0.0009699999936856329,
50
+ 0.0
51
+ ],
52
+ [
53
+ 1.0,
54
+ 0.0031500000040978193,
55
+ -0.0,
56
+ 0.7171000242233276
57
+ ],
58
+ [
59
+ -0.0,
60
+ 0.0009699999936856329,
61
+ 1.0,
62
+ -0.0
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ 0.0031399999279528856,
74
+ 1.0,
75
+ -2.9999999242136255e-05,
76
+ 0.0
77
+ ],
78
+ [
79
+ 1.0,
80
+ -0.0031399999279528856,
81
+ 0.0,
82
+ 0.7171000242233276
83
+ ],
84
+ [
85
+ -0.0,
86
+ -2.9999999242136255e-05,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [
101
+ [
102
+ 0,
103
+ 1
104
+ ]
105
+ ],
106
+ "contact_points_mask": [
107
+ true
108
+ ],
109
+ "target_point_discription": [],
110
+ "contact_points_discription": [],
111
+ "functional_point_discription": [],
112
+ "orientation_point_discription": [],
113
+ "stable": true
114
+ }
objects/049_shampoo/model_data5.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 0.00017664643246408397,
4
+ 0.9506279666039529,
5
+ 0.00021986625164432838
6
+ ],
7
+ "extents": [
8
+ 0.9660028478206237,
9
+ 1.9364200838483332,
10
+ 0.5929619637785435
11
+ ],
12
+ "scale": [
13
+ 0.1,
14
+ 0.1,
15
+ 0.1
16
+ ],
17
+ "transform_matrix": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.0
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "target_pose": [],
44
+ "contact_points_pose": [
45
+ [
46
+ [
47
+ 0.0031500000040978193,
48
+ -0.9999899864196777,
49
+ 0.0013099999632686377,
50
+ 0.0
51
+ ],
52
+ [
53
+ 1.0,
54
+ 0.0031500000040978193,
55
+ -0.0,
56
+ 0.5742700099945068
57
+ ],
58
+ [
59
+ -0.0,
60
+ 0.0013099999632686377,
61
+ 1.0,
62
+ -0.0
63
+ ],
64
+ [
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ 0.0031399999279528856,
74
+ 1.0,
75
+ -2.9999999242136255e-05,
76
+ 0.0
77
+ ],
78
+ [
79
+ 1.0,
80
+ -0.0031399999279528856,
81
+ 0.0,
82
+ 0.5742700099945068
83
+ ],
84
+ [
85
+ -0.0,
86
+ -2.9999999242136255e-05,
87
+ -1.0,
88
+ -0.0
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "functional_matrix": [],
99
+ "orientation_point": [],
100
+ "contact_points_group": [
101
+ [
102
+ 0,
103
+ 1
104
+ ]
105
+ ],
106
+ "contact_points_mask": [
107
+ true
108
+ ],
109
+ "target_point_discription": [],
110
+ "contact_points_discription": [],
111
+ "functional_point_discription": [],
112
+ "orientation_point_discription": [],
113
+ "stable": true
114
+ }